EP0424364A2 - Verfahren und Vorrichtung zum Betreiben eines Staubsaugers - Google Patents

Verfahren und Vorrichtung zum Betreiben eines Staubsaugers Download PDF

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Publication number
EP0424364A2
EP0424364A2 EP91100654A EP91100654A EP0424364A2 EP 0424364 A2 EP0424364 A2 EP 0424364A2 EP 91100654 A EP91100654 A EP 91100654A EP 91100654 A EP91100654 A EP 91100654A EP 0424364 A2 EP0424364 A2 EP 0424364A2
Authority
EP
European Patent Office
Prior art keywords
motor
speed
current
voltage
rotational speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP91100654A
Other languages
English (en)
French (fr)
Other versions
EP0424364A3 (en
Inventor
Haruo Koharagi
Kazuo Tahara
Tsunehiro Endo
Kunio Miyashita
Yoshitaro Ishii
Fumio Jyoraku
Syuji Watanabe
Hisanori Toyoshima
Kohichi Saito
Wakichiro Hishi
Koujirou Yamashita
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP61237943A external-priority patent/JPH0728545B2/ja
Priority claimed from JP61237938A external-priority patent/JPH0687675B2/ja
Priority claimed from JP61237942A external-priority patent/JPS6395883A/ja
Priority claimed from JP62050073A external-priority patent/JPS63216524A/ja
Priority claimed from JP62065608A external-priority patent/JPS63234930A/ja
Priority claimed from JP62069072A external-priority patent/JPS63240391A/ja
Priority claimed from JP62080951A external-priority patent/JPH0728546B2/ja
Priority claimed from JP62080950A external-priority patent/JPS63249487A/ja
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Publication of EP0424364A2 publication Critical patent/EP0424364A2/de
Publication of EP0424364A3 publication Critical patent/EP0424364A3/en
Withdrawn legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2889—Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2826—Parameters or conditions being sensed the condition of the floor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2831—Motor parameters, e.g. motor load or speed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2842—Suction motors or blowers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894—Details related to signal transmission in suction cleaners
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0077—Characterised by the use of a particular software algorithm
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/90—Specific system operational feature
    • Y10S388/904—Stored velocity profile
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/923—Specific feedback condition or device
    • Y10S388/93—Load or torque

Definitions

  • the present invention relates to a vacuum cleaner and, more particularly, to method and apparatus for operating a vacuum cleaner which is operated in the optimum condition in accordance with the state of the cleaning surface and the choking state of the cleaner.
  • an input is set to a constant value irrespective of the state of the cleaning surface. Therefore, the suction force is too strong or too weak for the cleaning surface or an object to be cleaned, so that the optimum control which is comfortable to the user cannot be performed.
  • such an optimum control can be realized by, for example, controlling the input and adjusting a suction amount of the cleaner in accordance with the cleaning surface.
  • a method of adjusting the suction amount of the cleaner a method whereby the rotational speed of the drive motor is variably set is first considered.
  • a method of changing the rotational speed of the motor there have been known a method whereby the phase is controlled using a thyristor and a method whereby the rotational speed is controlled by an inverter.
  • a vacuum cleaner disclosed in JP-A-60-242827 relates to the latter method. Namely, this cleaner uses a brushless motor which is driven by an inverter.
  • the vacuum cleaner comprises a speed control unit for a brushless DC motor employing an inverter together with a respective control unit.
  • the inverter control unit comprises a microcomputer, a current detecting circuit, a magnetic pole position detecting circuit and a speed command circuit.
  • the microcomputer calculates a load state of the cleaner and applies a voltage or a current to the motor which is controlled so as to save electric power in at least one of the heavy load state or the the light load state.
  • Fig. 1 is a schematic constitutional diagram of a vacuum cleaner according to an embodiment of the present invention
  • Fig. 2 is a whole constitutional diagram of a speed control unit comprising a brushless DC motor and an inverter control unit
  • Fig. 3 is a diagram showing performance curves of the vacuum cleaner
  • Figs. 4A and 4B are diagrams showing fluctuations in rotational speed due to the choking state of a filter
  • Fig. 5 is a diagram showing a fluctuation in rotational speed in the case where the cleaning surface and the choking state of the filter are considered
  • Fig. 6 is a diagram showing the differences of the fluctuation modes in rotational speed for the cleaning surfaces
  • Fig. 7 is a diagram showing a function table in accordance with the cleaning surface
  • Fig. 1 is a schematic constitutional diagram of a vacuum cleaner according to an embodiment of the present invention
  • Fig. 2 is a whole constitutional diagram of a speed control unit comprising a brushless DC motor and an inverter control unit
  • Fig. 3
  • FIG. 8 is a diagram showing the processing contents which are executed by a microcomputer
  • Fig. 9 is a control block diagram of an apparatus to drive the vacuum cleaner showing an embodiment of the invention
  • Fig. 10 is a diagram showing performance curves in dependence on the presence or absence of the choke of the filter
  • Fig. 11 is a diagram showing performance curves to the cleaning surface
  • Fig. 12 is a control block diagram showing another embodiment (1) of the present invention
  • Fig. 13 is a whole constitutional diagram of a speed control unit showing another embodiment (2) of the invention
  • Fig. 14 is a diagram showing the processing operation of the microcomputer
  • Fig. 15 is a diagram showing performance curves of the vacuum cleaner
  • Figs. 16 to 18 are diagrams showing another embodiment (3) of the invention
  • FIG. 16 is a schematic constitutional block diagram showing a control circuit of a speed control unit
  • Fig. 17 is a whole constitutional diagram of a speed control unit consisting of a brushless DC motor and an inverter control unit
  • Fig. 18 is a diagram showing performance curves of a vacuum cleaner
  • Figs. 19 and 20 are diagrams showing another embodiment (4) of the invention
  • Fig. 19 is a schematic constituional block diagram showing a control circuit of a speed control unit
  • Fig. 20 is a diagram showing performance curves of a vacuum cleaner
  • Figs. 21 to 23 are diagrams showing another embodiment (5) of the invention
  • Fig. 21 is a schematic constitutional block diagram showing a control circuit of a speed control unit
  • Fig. 21 is a schematic constitutional block diagram showing a control circuit of a speed control unit
  • Fig. 17 is a whole constitutional diagram of a speed control unit consisting of a brushless DC motor and an inverter control unit
  • Fig. 18 is a diagram showing performance curves
  • Fig. 22 is a diagram showing a whole constitution of the speed control unit consisting of a brushless DC motor and an inverter control unit;
  • Fig. 23 is a diagram showing performance curves of a vacuum cleaner;
  • Figs. 24 to 27 are diagrams showing another embodiment (6) of the invention;
  • Fig. 24 is a diagram showing performance curves of a vacuum cleaner,
  • Fig. 25 is a diagram showing performance curves of a vacuum cleaner having the power saving function,
  • Fig. 26 is a schematic constitutional block diagram showing a control circuit,
  • Fig. 27 is an explanatory diagram showing the processing operation of a microcomputer,
  • Figs. 28 to 30 are diagrams showing another embodiment (7) of the invention;
  • Fig. 28 is a diagram showing performance curves of a vacuum cleaner, Figs.
  • FIG. 29A and 29B are diagrams showing changes in current to the state in which a foreign matter was inhaled into an intake air passage and to the choking state of a filter
  • FIG. 30 is a schematic constitutional block diagram showing a control circuit to drive a brushless DC motor of the invention
  • Figs. 31 to 37 are diagrams showing another embodiment (8) of the invention
  • Fig. 31 is a block diagram showing a circuit constitution
  • Fig. 32 is a diagram showing waveforms of an AC power source voltage and a power source current
  • Fig. 33 is a characteristic diagram of an initial charging voltage of a capacitor
  • Fig. 34 is a flowchart for a switching process of a speed control of a microcomputer
  • Figs. 36A and 36B are diagrams showing waveforms of voltages which are applied to a motor when its rotational speed is controlled by a step-up chopper circuit to improve the power factor
  • Figs. 37A and 37B are diagrams showing waveforms of voltages which are applied to the motor when its rotational speed is controlled by an inverter
  • Fig. 38 is a circuit constitutional block diagram showing another embodiment (9) of the invention.
  • variable speed motor As a variable speed motor, it is considered to use an AC commutator motor whose speed is changed by controlling the input, a phase controlled motor, an induction motor which is driven by an inverter, a reactance motor, a brushless motor which is driven by an inverter, or the like.
  • AC commutator motor whose speed is changed by controlling the input
  • phase controlled motor an induction motor which is driven by an inverter
  • reactance motor a brushless motor which is driven by an inverter, or the like.
  • Fig. 1 is a schematic constitutional diagram of a vacuum cleaner according an embodiment of the invention.
  • reference numeral 1 denotes a vacuum cleaner main body
  • 2 is a hose
  • 5 a power supply cord
  • 8 a fan
  • 9 a brushless DC motor
  • 10 an inverter control unit.
  • the inverter control unit 10 When an electric blower consisting of the fan 8 and brushless DC motor 9 is driven by the inverter control unit 10, the wind inhaled by the hose 2 passes along the path consisting of the filter 6, fan 8, and filter 7 as indicated by arrows and is discharged from the vacuum cleaner main body 1.
  • the fine particles of the abraded powder of the brush are not discharged from the vacuum cleaner and at the same time, the smell due to the sparks of the brush is not generated. Therefore, there is an effect such that the user can perform the cleaning operation in the clean circumstances.
  • Fig. 2 shows a whole constitution of a speed control unit consisting of the brushless DC motor and inverter control unit of the invention.
  • reference numeral 10 denotes the inverter control unit.
  • An AC power source 14 is rectified by a rectifier 15 and smoothed by a capacitor 16, so that a DC voltage E d is supplied to an inverter 20.
  • the inverter 20 is the inverter having a conducting period of angle 120° comprising transistors TR1 to TR6 and flywheel diodes D1 to D6 connected thereto.
  • the transistors TR1 to TR3 constitute a positive arm.
  • the transistors TR4 to TR6 constitute a negative arm.
  • the current supplying period of time (i.e. conducting period of angle) of each arm corresponds to the electric angle of 120° and is pulse width modulated (PWM) .
  • a resister R1 of a relatively low resistance is commonly connected between the emitter of each of the transistors TR4 to TR6 constituting the negative arm and the anode terminal of each of the flywheel diodes D4 to D6.
  • the brushless DC motor 9 comprises a rotor 9b using permanent magnets of two poles as fields and a stator 9a into which armature windings U, V, and W are inserted. Since winding currents flowing through the armature windings U, V, and W also flow through the low resistor R1, a load current I D of the motor 9 can be detected by the voltage drop of the low resistor R1.
  • the speed control circuit of the brushless DC motor 9 mainly comprises: a magnetic pole position detecting circuit 12 to detect the position of the magnetic pole of the rotor R by a hall device 11 or the like; a current detecting circuit 17 of the load current I D ; a base driver 19 to drive the transistors TR1 to TR6; and a microcomputer 13 to drive the base driver 19 on the basis of detection signals obtained from the detecting circuits 12 and 17.
  • Numeral 18 denotes an operation switch which is operated by the actual user.
  • the magnetic pole position detecting circuit 12 receives a signal from the hall device 11 and produces a position detection signal 12S of the rotor 9b.
  • the position detection signal 12S is used to switch the currents of the armature windings U, V, and W and is also used as the signal to detect the rotational speed.
  • the microcomputer 13 obtains the speed by counting the number of position detection signals 12S within a predetermined sampling time.
  • the current detecting circuit 17 detects the voltage drop of the resistor R1 to obtain the load current I D , and a current detection signal 17S is obtained by an A/D converter (not shown).
  • the microcomputer 13 comprises: a central processing unit (CPU) 13a; a read only memory (ROM) 13b; and a random access memory (RAM) 13c. Although not shown, these components are mutually connected by an address bus, a data bus, a control bus, etc.
  • the programs necessary to drive the motor 9, for example, the programs for the process to calculate the speed, the process to fetch a speed command, the process to control the speed, etc. are stored in the ROM 13b.
  • a function table 22 in which various kinds of arbitrary speed control patterns are stored is provided in the ROM 13b.
  • the RAM 13c comprises: a memory section to read and write various kinds of data necessary to execute the foregoing various kinds of processing programs; and a memory section in which a speed pattern data relative to the value of the winding current to be supplied every position of the rotor is stored.
  • the transistors TR1 to TR6 are respectively driven by the base driver 9 in response to an ignition signal 13S which was processed and produced by the microcomputer 13.
  • a voltage command circuit 21 produces a chopper signal, which will be explained hereinafter.
  • the output torque can be varied by changing the winding currents. Namely, by adjusting the load current I D , the output torque can be continuously arbitrarily changed. In addition, by changing the driving frequency of the inverter 20, the rotational speed can be freely changed.
  • Fig. 3 The characteristic of the vacuum cleaner is as shown in Fig. 3.
  • an axis of abscissa denotes the wind amount Q (m3/min) of the vacuum cleaner and an axis of ordinate indicates the suction power P out representative of the suction performance, the rotational speed N of the motor, and the load current I D .
  • the region surrounded by two alternate long and two short dashes lines indicates the actual operating range.
  • the wind amount Q is maximum and the rotational speed N is minimum.
  • the degree of choking state progresses, the operating point gradually moves to the left and when the filter is completely choked, the wind amount Q is minimum and the rotational speed N is maximum and the operating point reaches the minimum point.
  • the suction power P out decreases irrespective of the choking amount of the filter in the ranges before and after the maximum suction power P max as a turning point. Therefore, by controlling the rotational speed of the motor to the optimum speed in accordance with the choking amount of the filter, it is possible to provide the vacuum cleaner which can improve the suction power P out .
  • a method of detecting the state or kind of cleaning surface will now be described.
  • an attention is paid to the fact that the minimum or maximum rotational speed, the average rotational speed, or the fluctuating state of the rotational speed varies in dependence on the cleaning surface.
  • the cleaning surface is presumed from the rotational speed, thereby controlling the motor to perform the optimum operation according to the presumed state of the cleaning surface.
  • Figs. 4A and 4B show fluctuations in rotational speed of the motor in the case of cleaning a tatami mat. (Japanese straw matting). These diagrams show the fluctuations in rotational speed which were actually confirmed by the experiments.
  • Fig. 4A shows the case where the wind amount Q is large in the state in which the filter is not choked.
  • Fig. 4B shows the case where the wind amount Q is small in the state in which the filter was choked.
  • the rotational speed of the motor changes from the minimum speed N11 to the maximum speed N12.
  • the rotational speed of the motor changes from the minimum speed N13 to the maximum speed N14.
  • the minimum speed N13 is higher than the minimum speed N11 when the filter is not choked.
  • the maximum speed N14 is also higher than the maximum speed N12. Therefore, for example, if the minimum speed N11 is stored in the ROM 13b or RAM 13c and compared with the minimum speed N13 when the cleaner was actually operated, the choking state of the filter can be detected.
  • a reference value of the rotational speed which is stored in the ROM 13b or RAM 13c is not limited to only the value of N11 but may be set to N12, N13, or N14. If the degree of the choking state is high, the difference between the rotational speeds is large. Therefore, by increasing the input so as to raise the rotational speed in accordance with this difference, a desired suction force of the cleaner can be obtained and the suction power P out can be also improved.
  • the rotational speed of the motor of the cleaner varies in dependence on the choking state of the filter, it is actually largely influenced by the state of the cleaning surface. Since the cleaning surface is instantaneously changed during a single cleaning operation in a manner such that it is changed from the floor to a carpet or from a tatami mat to a curtain, a fluctuation in rotational speed occurs due to the change in cleaning surface, i.e., during a single cleaning operation when considering the time cycle. However, by properly deciding the sampling time, the change in cleaning surface can be also detected.
  • FIG. 5 This state is shown in Fig. 5.
  • an axis of abscissa denotes the surface or object to be cleaned and an axis of ordinate indicates the rotational speed.
  • typical four kinds of cleaning surfaces and objects such as tatami mat, carpet, sofa, and curtain are shown in this diagram.
  • a solid line shows the rotating state in the case where the filter is not choked and a broken line indicates the rotating state in the case where the filter is choked.
  • the rotational speed is the lowest in the case of tatami mat and sequentially increases in accordance with the order of carpet, sofa, and curtain. This tendency is derived irrespective of the choking state of the filter.
  • a bypass passage is provided for the main air passage.
  • the bypass passage takes the outside air from the portions other than the suction port and feeds the cooling wind to the electric blower.
  • the inside of the cleaner is cooled by this cooling wind and thereafter, the cooling wind is discharged to the outside.
  • the indication of the operation of a bypass valve in Fig. 5 indicates the position at which the valve is made operative to open the bypass passage when the suction port was completely closed.
  • the bypass valve functions as what is called a protecting apparatus to prevent that the rotational speed rises to a value which is equal to or higher than the speed indicated by the position of the bypass valve operation in Fig. 5.
  • Fig. 6 shows the fluctuation modes of the rotational speed every cleaning surface and every object in the case where the cleaning operation was executed by use of the cleaner having a filter which is not choked.
  • an axis of abscissa indicates the cleaning surface and an axis of ordinate represents the rotational speed.
  • each of the fluctuation modes M1 to M4 shown in the circles indicates a change in rotational speed during the cleaning operation for each cleaning surface.
  • An axis of abscissa denotes a time.
  • the minimum speed is N11 and the maximum speed is N12 and a fluctuation in rotational speed is small within a predetermined sampling time.
  • the minimum rotational speed at this time is N1 shown in Fig. 5.
  • the minimum speed is N21 and the maximum speed is N22 and the difference between the minimum and maximum speeds within the same sampling time as that mentioned above is larger than that in the case of the tatami mat.
  • the minimum speed at this time is N2.
  • the minimum speed is N31 and the maximum speed is N32.
  • the difference between them within the same sampling time is further larger than that in the case of the carpet.
  • the minimum speed is N3.
  • the waveform in the fluctuation mode in the case of the sofa is similar to a square wave.
  • the minimum speed is N41 and the maximum speed is N42 and the difference between them within the same sampling time is still larger than that in the case of the sofa.
  • the minimum speed is N4.
  • the waveform in the fluctuation mode in the case of the curtain is also similar to a square wave similarly to the case of the sofa.
  • each of the minimum rotational speeds N11, N21, N31, and N41 corresponds to the open state in which the suction port was removed from the cleaning surface.
  • the average rotational speed can be also used in place of the minimum rotational speed.
  • the surface or object which is actually being cleaned can be detected from the average or minimum rotational speed and the fluctuation modes M1 to M4 of the motor of the cleaner and that the choking state can be also detected.
  • the cleaning surface or object to be cleaned when considering the cleaning surface or object to be cleaned, it is the curtain that it is most difficult to fetch dusts. Therefore, when it has been decided that the cleaning surface is a carpet or an object similar to a carpet, it is desirable to set the rotational speed into the highest speed. Next, it is preferable to sequentially set the rotational speed in accordance with the tatami mat, sofa, and curtain so as to gradually decrease. Namely, it was desirable to assume the rotational speeds as mentioned above in consideration of the easiness in fetching of dusts and a phenomenon and state in which the suction port is attracted to the cleaning surface or the like.
  • the cleaning surface or object or the choking state can be detected from Fig. 6 and the like, by setting the optimum rotational speed in accordance with the choking state detected, the cleaning operation can be performed in accordance with the cleaning surface.
  • Fig. 7 shows control patterns stored in the ROM 13b in the microcomputer 13. Practically speaking, these patterns are stored as the function tables 22 corresponding to the respective cleaning surfaces.
  • an axis of abscissa denotes a degree of the choking state and an axis of ordinate indicates a speed command N * .
  • the rotational speed is set from the foregoing necessary rotational speeds in accordance with the order of carpet, tatami mat, sofa, and curtain and is set so as to increase as the choking state progresses. Due to this, the function in the function table 22 is automatically set in accordance with the cleaning surface.
  • the cleaning surface such as a carpet or the like is not limited to the carpet.
  • Fig. 8 shows the content of the processes which are executed by the microcomputer 13. This diagram shows a procedure to obtain the speed command N * in accordance with the cleaning surface and the degree of choking state.
  • the rotational speed of the motor 9 which changes with an elapse of time is calculated using the position detection signal 12S.
  • the mode of the rotational vibration namely, the vibration frequency and the value of amplitude within the sampling time are compared with the vibration mode (fluctuation mode of the speed) which has previously been stored in the ROM 13b, thereby presuming the cleaning surface and deciding the degree of choking state from the rotational speeds N max and N min .
  • a predetermined value corresponding to the choking state is selected from the function table 22 selected on the basis of the cleaning surface and the degree of choking state, thereby obtaining the speed command N * in accordance with this value.
  • FIG. 9 the voltage controlled system of a closed loop is shown.
  • the operation switch 18 when the user of the cleaner turns on the operation switch 18, an operation command is fetched to start the brushless DC motor 9.
  • the rotational speed rises to a predetermined speed, the activating process is finished. Thereafter, the processes to presume the cleaning surface and to detect the degree of choking state are executed.
  • the microcomputer 13 shown in Figs. 2 and 9 receives the position detection signal 12S from the magnetic pole position detecting circuit 12 and calculates the rotational speed in the process I in Fig. 8. In the next process II, the maximum speed N max and the minimum speed N min are detected. Further, the microcomputer 13 presumes the cleaning surface and decides the choking state in the process III on the basis of the detected maximum and minimum speeds. Subsequently, in the process IV, a predetermined function table 22 is selected by a switch 23 in accordance with the cleaning surface and choking state. The speed command N * is obtained on the basis of a predetermined speed command value in the function table 22 selected in accordance with the degree of choking state of the filter.
  • the speed command N * is converted into a voltage command V * by a gain K.
  • the voltage command V * is input to a D/A converter.
  • An output of the D/A converter is compared with an output of a triangular wave generator, which is provided separately from the D/A converter, by a comparator provided at the post stage.
  • An output corresponding to the difference between those outputs is supplied to the base driver 19.
  • the base driver 19 applies the voltage based on the voltage command which was determined at the front stage to the motor 9.
  • the motor 9 is rotated at the speed in response to the speed command N * according to the cleaning surface and the degree of choking state.
  • Fig. 10 shows performance curves of a cleaner (electric blower) using the motor 9 which is controlled as explained above as the motor to drive the vacuum cleaner.
  • Fig. 10 is simimar to that described in Fig. 3.
  • broken lines indicate the case where the filter is not choked and solid lines represent the case where the filter is choked.
  • the suction power P out which was reduced due to the choke can be raised as shown by the solid lines, so that the vacuum cleaner of a high efficiency can be obtained.
  • Fig. 11 similarly shows a change in performance to the cleaning surface.
  • This diagram shows changes in suction power P out , rotational speed N, and load current I D which are necessary in accordance with the cleaning surface.
  • the optimum rotational speed N * is given in accordance with the characteristic responsive to the choking state on the basis of the function table 22 corresponding to the cleaning surface.
  • a phase controlled AC commutator motor 24 comprises a field winding 24A and an armature 24B.
  • the motor 24 is connected to the AC power source 14 through a phase control unit 25 including a control device such as triac, FLS, thyristor, or the like.
  • An ignition angle of a gate of the control device of the phase control unit 25 is controlled by a driver 27 similar to the base driver 19 shown in Fig. 2.
  • the microcomputer 13 also has the processing function similar to that mentioned above.
  • the microcomputer 13 presumes the cleaning surface on the basis of the maximum speed N max and the minimum speed N min within the sampling time on the basis of the rotation information (mainly, rotational speed information) derived from a rotation detector 26, thereby producing a gate signal of the control device by further considering the choking state.
  • the content of the practical processes which are executed by the microcomputer is similar to that shown in Fig. 8.
  • this presumed cleaning surface is the surface having the same surface as that of the tatami mat or the cleaning surface in the state similar to the tatami mat.
  • the rotational speed is controlled in accordance with the state of the cleaning surface or controlled so as to compensate the suction performance which was deteriorated due to the choke.
  • the optimum control of the cleaner can be automatically performed.
  • the rotational speed can be detected by directly using the signal of the hall device 11 in the magnetic pole position detecting circuit 12 which is generally used in, for example, the brushless DC motor 9, so that what is called a sensorless vacuum cleaner is derived.
  • Figs. 13 to 15 show another embodiment (2) of the invention.
  • a speed control unit in this case is as shown in Fig. 13 and differs from the speed control unit shown in Fig. 2 with respect to two points that a speed command circuit 180 is used in place of the operation switch 18 and that the voltage command circuit 21 is omitted.
  • Fig. 13 the parts and components having the same functions as those shown in Fig. 2 are designated by the same reference numerals.
  • Fig. 15 shows performance curves of a vacuum cleaner, in which an axis of abscissa denotes an amount Q of wind which was inhaled from the hose 2 and an axis of ordinate represents a suction power P out indicative of the suction performance of the cleaner and a rotational speed N and a load current I D of the motor.
  • Solid lines indicate the case where a conventional AC commutator motor was used and broken lines represent the case where the brushless DC motor was used.
  • a range from the maximum operating point to the minimum operating point is the operating range of the vacuum cleaner.
  • the suction power P out increases from the maximum operating point (in the state in which the suction port of the hose was removed from an object to be cleaned, or the like) with a decrease in wind amount and becomes the maximum value.
  • the suction power P out is reduced and reaches the minimum operating point (in the state in which the filter was choked, the suction port was closed, or the like).
  • the operating point is located on the side where the wind amount is small from the maximum point of the suction P out and the cleaner is actually used in the range where the suction power P out is small.
  • the vacuum cleaner it is sufficient for the vacuum cleaner to rotate the fan at a high speed in response to the decrease in wind amount.
  • a torque T also increases.
  • the current also rises. Therefore, as shown in Fig. 15, although the brushless DC motor generally exhibits the shunt characteristic, by performing the series wound control such as to increase the rotational speed with a decrease in wind amount, the motor can obtain a characteristic as shown by broken lines. Thus, there is an effect such that the suction power P out at an operating point near the minimum operating point can be improved.
  • Fig. 14 shows the order of the processing operations which are executed by the microcomputer.
  • the state in which the motor is held in the standby mode until a start command is input is repeated.
  • the microcomputer 13 detects the position of the magnetic pole and outputs a position detection signal and controls the speed (controls the voltage or current which is applied to the motor) on the basis of the calculated speed.
  • the activation mode is repeated until the rotational speed reaches the speed command value.
  • the microcomputer 13 enters the series wound control mode and detects the position of the magnetic pole and outputs the position detection signal.
  • the microcomputer calculates the load state of the cleaner on the basis of the result of the speed obtained and the detection value of the load current and controls the speed on the basis of the load state obtained so as to exhibit a predetermined series wound characteristic.
  • the series wound control mode is repeated.
  • the actual speed is compared with the speed command value in each mode.
  • no speed command exists i.e., when a stop command is input
  • the motor is stopped and the motor is set into the standby mode to wait for the input of a start command.
  • Figs. 16 to 18 show another embodiment (3) of the invention.
  • a speed control unit is as shown in Fig. 17 and differs from the speed control unit shown in Fig. 13 with respect to a point that the voltage command circuit 21 is provided.
  • Fig. 17 the parts and components having the same functions as those shown in Fig. 13 are designated by the same reference numerals.
  • a command is input from the speed command circuit 180 to the microcomputer 13, the microcomputer 13 reads the command and outputs a speed command N * .
  • the speed command N * is input to a D/A converter of the voltage command circuit 21.
  • An output of the D/A converter is compared with an output of the triangular wave generator by the comparator.
  • An output of the comparator is input to the base driver 17, so that the voltage which is applied to the motor 9 is determined.
  • the microcomputer 13 calculates the rotational speed N.
  • the speed N is compared with the command value N".
  • the motor 9 is controlled so as to always rotate at the speed instructed by the speed command N * .
  • the current detection signal 17S of the current detecting circuit 17 is input to the microcomputer 13.
  • the microcomputer 13 calculates the load current I D and obtains the difference (I Dl - I D ) between a reference value I Dl and the load current I D .
  • the microcomputer 13 also calculates ⁇ N by a gain K 0 and is added to the speed command N * .
  • the speed command N * is corrected by the value of the load current I D corresponding to the load change and the motor 9 is operated by the closed loop speed control on the basis of the new speed command N * + ⁇ N. Therefore, the rotational speed increases with a decrease in load current I D , so that the series wound characteristic is derived. There is an effect such that a vacuum cleaner having the improved suction performance is obtained.
  • Fig. 18 shows performance curves of a vacuum cleaner in which a brushless DC motor is driven by a speed control unit according to the invention.
  • an axis of abscissa denotes an amount Q of wind which passes in the vacuum cleaner and an axis of ordinate represents a suction power P out indicative of the suction performance of the vacuum cleaner, a rotational speed N and a load current I D of the motor.
  • the range from the maximum operating point to the minimum operating point is the operating range of the vacuum cleaner.
  • Broken lines indicate the case where the motor was continuously operated by the ordinary closed loop speed control. Since the rotational speed N is constant to a change in wind amount Q, the suction power P out is small and a desired performance as the vacuum cleaner is not obtained.
  • Figs. 19 and 20 show another embodiment (4) of the invention.
  • a speed control unit uses the speed control unit shown in Fig. 17.
  • the microcomputer 13 reads the command and determines the speed command N * and outputs the voltage command V * by a gain K l .
  • the voltage command V * is input to the D/A converter of the voltage command circuit 21.
  • An output of the D/A converter and an output of the triangular wave generator are compared by the comparator.
  • An output of the comparator is input to the base driver 19, so that the voltage which is applied to the brushless DC motor 9 is decided.
  • the motor 9 is operated by the closed loop voltage control based on the speed command N * .
  • the rotational speed changes by the drooping characteristic of the motor in dependence on the load change of the cleaner (for example, the change of the surface to be cleaned when the filter of the cleaner main body is choked and the suction port is in contact with the floor surface, or the like).
  • the load change of the cleaner for example, the change of the surface to be cleaned when the filter of the cleaner main body is choked and the suction port is in contact with the floor surface, or the like.
  • an output of the current detecting circuit 17 is input to the microcomputer 13.
  • the microcomputer 13 calculates the load current I D and obtains the difference (I Dl - I D ) between the reference value I Dl and the load current I D .
  • ⁇ V is calculated by a gain K2 and added to the voltage command V * .
  • the voltage command V * is corrected (in other words, the speed command N * is corrected) by the value of the load current I D corresponding to the load change and the brushless DC motor 9 is operated by the open loop voltage control on the basis of the new voltage command V * + ⁇ V.
  • Fig. 20 shows performance curves of a vacuum cleaner in which a brushless DC motor was driven by the speed control unit of the invention.
  • an axis of abscissa denotes an amount Q of wind which passes in the vacuum cleaner and an axis of ordinate represents a suction power P out representative of the suction performance of the vacuum cleaner, a rotational speed N and a load current I D of the motor.
  • the range from the maximum operating point to the minimum operating point is the operating range of the vacuum cleaner.
  • Broken lines indicate the case where the motor was operated by the ordinary closed loop speed control. Since the rotational speed N is constant to a change in wind amount Q, the suction power P out is small and a desired performance as the vacuum cleaner is not derived.
  • Figs. 21 to 23 show another embodiment (5) of the invention.
  • a speed control unit is as shown in Fig. 22 and differs from the speed control unit shown in Fig. 17 with respect to a point that a current command circuit 210 is used in place of the voltage command circuit 21.
  • the parts and components having the same functions as those shown in Fig. 17 are designated by the same reference numerals.
  • a command is input from the speed command circuit 180 to the microcomputer 13, the microcomputer 13 reads this command and decides the speed command N * and outputs a current command I D * by a gain K ll .
  • the current command I D * is input to a D/A converter 210a in the current command circuit 210.
  • An output of the D/A converter 210a and an output of a triangular wave generator 210b are compared by a comparator 210c.
  • An output of the comparator 210c is input to the base deriver 19 and the voltage which is applied to the brushless DC motor 9 is determined.
  • An output of the current detecting circuit 17 is input to the microcomputer 13.
  • the microcomputer 13 calculates the load current I D and compares with the current command I D * .
  • the motor 9 is controlled so as to always rotate at the speed instructed by the current command I D * .
  • the microcomputer 13 calculates the speed and obtains the difference (N - N1) between the rotational speed N and the reference value N1 and obtains ⁇ I D by a gain K21 and compares with the current command I D * .
  • the current command I D * is corrected (in other words, the speed command is corrected) by the value of the rotational speed N corresponding to the load change and the motor 9 is operated by the closed loop current control (this control is referred to as the series wound control) on the basis of the new current command I D * - ⁇ I D , so that the variable range of the rotational speed is widened.
  • Fig. 23 shows performance curves of a vacuum cleaner in which the brushless DC motor was driven by the speed control unit of the invention.
  • an axis of abscissa denotes an amount Q of wind which passes in the vacuum cleaner and an axis of ordinate indicates a suction power P out representative of the suction performance of the vacuum cleaner, a rotational speed N and a load current I D of the motor.
  • the range from the maximum operating point to the minimum operating point is the operating range of the vacuum cleaner.
  • Broken lines indicate the case where the motor was operated by the ordinary closed loop speed control. Since the rotational speed N is constant to a change in wind amount Q, the suction power P out is small and a desired performance as the vacuum cleaner is not obtained.
  • Figs. 24 to 27 show another embodiment (6) of the invention.
  • a speed control unit uses the speed control unit shown in Fig. 17.
  • Fig. 24 shows performance curves of a vacuum cleaner in which a brushless DC motor is used in a drive source.
  • an axis of abscissa denotes an amount Q of wind which passes in the vacuum cleaner and an axis of ordinate indicates a suction power P out representative of the suction performance of the vacuum cleaner, a rotational speed N and a load current I D of the motor.
  • the range from the maximum operating point to the minimum operating point is the operating range of the vacuum cleaner.
  • the position near the maximum operating point corresponds to the state in which the suction port is away from the surface to be cleaned and at this time, the maximum electric power is needed.
  • the position near the minimum operating point corresponds to the state in which the suction port is closely come into contact with the floor surface and at this time, the electric power is minimum.
  • the load state of the vacuum cleaner is light in the case of the floor surface such as, e.g., tatami mat, carpet, etc. and the position near the maximum suction power corresponds to the operating point. Namely, the substantial operating range falls within a range from the point of the maximum suction power to the minimum operating point.
  • the position near the minimum operating point corresponds to the state in which the suction port is closely come into contact with the floor surface. Therefore, the cleaning work as the cleaner is not performed. On the contrary, the suction port is hardly removed from the floor surface and it is hard for the user to handle the cleaner to perform the cleaning.
  • the brushless DC motor is rotated at the full power and the electric power is saved in the other cases.
  • Fig. 25 shows performance curves of a vacuum cleaner having the power saving function.
  • an axis of abscissa and an axis of ordinate indicate the same contents as those shown in Fig. 24.
  • Broken lines show the case where the power saving was performed by the low output open loop control.
  • Solid lines represent the case where the speed control was performed by high output open loop control. Namely, the rotational speed of the brushless DC motor is increased to the speed at the maximum operating point A2 by an inverter control unit and the speed control is performed by the low output open loop. At this time, the motor is in the power saving state and the rotational speed is low, so that the level of the sound which is generated from the cleaner can be reduced and at the same time, the electric power consumption can be saved.
  • the speed control is executed by the open loop, when the load condition changes (so as to reduce the load), the load current of the brushless DC motor decreases.
  • the control mode is switched from the low output open loop control to the high output open loop control and the motor is fully rotated along the solid line on which the rotational speed changes in dependence on the wind amount.
  • the rotational speed of the brushless DC motor rises and reaches N1
  • the operating mode is also switched to the power saving state (low output open loop control). In this state, when the load condition changes so as to contrarily increase the load; the load current I D of the motor increases.
  • the control mode is again switched to the high output open loop control, and the motor is fully rotated in a manner similar to the foregoing case.
  • the rotational speed of the motor decreases and reaches N2
  • the operating mode is switched to the power saving state (low output open loop control) and the motor is returned to the original state.
  • the load state can be discriminated without using a load state sensor (wind amount sensor or the like). Only when the user performs the cleaning work, the brushless DC motor is fully rotated and the electric power can be saved in the other cases. There are effects such that the sound level can be reduced and the electric power consumption can be saved in the stanby mode of the cleaner.
  • Fig. 26 is a schematic constitutional block diagram of a control circuit to accomplish the performance of Fig. 25.
  • the microcomputer 13 reads the command and first selects a gain K12 (gain when the low output open loop control is performed) and supplies the voltage output data to the D/A converter in the voltage command circuit 21.
  • An output of the D/A converter is compared with an output of the triangular wave generator by the comparator.
  • An output of the comparator is input to the base driver 19.
  • the voltage (or current) which is applied to the brushless DC motor 9 is determined. The motor enters the power saving state.
  • the microcomputer 13 calculates the speed. In response to a detection signal from the current detecting circuit 17, the microcomputer 13 calculates the current. On the basis of the speed and current calculated, the switching state is decided.
  • the gain K12 is switched to a gain K22 (gain when the high output open loop control is performed: K l ⁇ K2) and the brushless DC motor is fully rotated.
  • Fig. 27 shows the order of the processing operations of the microcomputer in this embodiment.
  • the activation waiting state is repeated.
  • the brushless DC motor is rotated to a predetermined rotational speed (rotational speed at the maximum operating point).
  • the low output open loop control is executed and the cleaner is set into the power saving state.
  • the load current I D is smaller than I l or larger than I2
  • the high output open loop control is performed and the motor is fully rotated.
  • the rotational speed N lies within a range from N l to N2 (N l ⁇ N ⁇ N2)
  • the high output open loop control is continued.
  • the rotational speed N is higher than N l or lower than N2
  • the low output open loop control is executed and the cleaner is set into the power saving state.
  • Figs. 28 to 30 show another embodiment (7) of the invention.
  • a speed control unit uses the speed control unit shown in Fig. 17.
  • Fig. 28 shows performance curves of a vacuum cleaner in which a brushless DC motor is used in a drive source.
  • an axis of abscissa denotes an amount Q of wind which passes in the vacuum cleaner and an axis of ordinate indicates a suction power P out representative of the suction performance of the vacuum cleaner, a rotational speed N and a load current I D of the motor.
  • the range from the maximum operating point to the minimum operating point is the operating range of the vacuum cleaner.
  • the wind amount Q decreases in dependence on the degree of choking state, the operating point for the chokes of the filter moves from the maximum operating point to the minimum operating point.
  • the suction power P out decreases in the ranges before and after the maximum suction power P max as a turning point and the performance as the vacuum cleaner lacks.
  • the degree of sealing in the intake air passage rises because this passage is choked or a foreign matter is deposited therein, or the like, the rotational speed increases than it is needed.
  • the load current of the motor is detected and the operating mode is decided on the basis of the level of the load current. In particular, when the load current decreased to a value which is equal to or lower than a predetermined value, the rotational speed is set to a constant value, thereby preventing the overrotation.
  • Figs. 29A and 29B show changes in load current to the operating mode.
  • the point A1 at which the wind amount Q is large as shown in Fig. 3 corresponds to the case where the filter is not choked.
  • the difference between the load current I D and the minimum current set value I DS shown by a broken line is large.
  • a point B1 at which the wind amount Q is small corresponds to the state in which the degree of sealing rises because the filter is choked or a foreign matter is inhaled in the intake air passage.
  • the minimum value I D2 of the current change is smaller than the minimum current set value I DS shown by a broken line.
  • Fig. 30 is a schematic constitutional block diagram of a control circuit to drive a brushless DC motor of the invention.
  • An open loop voltage control system has been shown as an example of a speed control system.
  • the microcomputer 13 when a command is input from the speed command circuit 180 to the microcomputer 13, the microcomputer 13 reads the command and outputs the speed command N * .
  • the microcomputer 13 first selects a gain K13 and supplies the voltage output data V * to the D/A converter in the voltage command circuit 21.
  • An output of the D/A converter is compared with an output of the triangular wave generator by the comparator.
  • An output of the comparator is input to the base driver 19.
  • the voltage which is applied to the brushless DC motor 9 is determined.
  • the motor is rotated at the rotational speed corresponding to the reference voltage.
  • the microcomputer 13 In response to the detection signal 12S from the load current detecting circuit 12, the microcomputer 13 then compares the currents. A switching decision processing section determines whether the load current I D is smaller or larger than the minimum current set value I DS . If the load current I D is smaller than the minimum current set value I DS , it is determined that the filter is choked because such a foreign matter (handkerchief, nylon sheet, etc.) as to close the intake air passage has been inhaled. Thus, the voltage correction amount ⁇ V is subtracted from the voltage by the gain K23, thereby correcting the voltage command (in other words, correcting the speed command) of the brushless DC motor. Therefore, there are effects such that the rotational speed of the motor is not increased to a value than it is needed and the overrotation can be prevented.
  • Figs. 31 to 37 show another embodiment (8) of the invention.
  • Fig. 38 shows another embodiment (9) of the invention. Both of these embodiments relate to an apparatus to operate a motor such that a vacuum cleaner can be also used by an AC power source of any of the low and high voltage systems.
  • Fig. 31 shows a block diagram of a speed control unit of a brushless DC motor.
  • An AC voltage 116 of an AC power source 101 is converted into a DC voltage E d through a rectifier 102 and a step-up chopper circuit 103 to improve the power factor.
  • the DC electric power is supplied to an inverter 104.
  • a winding 105a of a brushless DC motor 105 is driven by the inverter 104.
  • a control circuit to control the speed of the motor 105 comprises: a microcomputer 106; a position detecting circuit 108 to detect the position of the magnetic pole of a rotor 105b of the brushless DC motor 105 from a motor terminal voltage 107; an inverter control section 109 for transistors Q1 to Q6 constituting the inverter 104; a DC voltage control section 111 to control the step-up chopper circuit 103 while referring to the waveform and level of a power source current 110; a DC voltage comparing section 125 to decide whether the voltage system of the AC power source 101 is the low voltage system or the high voltage system; and a direct current detecting section 126 to detect a DC current I d flowing through the inverter 104.
  • the microcomputer 106 executes the following processes: the process to control the speed; the process to fetch a position detection signal 112 from the position detecting circuit 108, a speed command signal 113, a DC voltage comparison signal 130, and a detected direct current 123; and the process to output an inverter drive signal 114, a current command signal 115 to the DC voltage control section 111, and a voltage signal 124 to the inverter control section 109.
  • the chopper circuit 103 comprises a reactor 103a, a transistor Q7, a diode 103b, and a smoothing capacitor 103c.
  • a drive signal to the transistor Q7 is made by the DC voltage control section 111.
  • the level of the power source current 110 is changed.
  • Fig. 32 shows the relation between the power source voltage 116 and the power source current 110.
  • the waveform of the power source current 110 is set to the sine wave of the same phase as that of the power source voltage 116 by the chopper circuit 103 which is controlled by the DC voltage control section 111 and at the same time, the effective value as the magnitude of the sine wave is controlled in accordance with the current command signal 115 which is output from the microcomputer 106, thereby setting the power factor of the power source to about 1.0.
  • the power source current control section 111 comprises: a power source voltage detecting circuit 111a to make a voltage signal 117 having the full-wave rectified waveform synchronized with the power source voltage 116 from an output voltage of the rectifier 102; a D/A converter 111b with a multiplication to make a sync current command signal 118 as an analog signal by multiplying the voltage signal 117 with the current command signal 115 as a digital signal; a power source current amplifier 111c to convert the full-wave rectified waveform of the power source current 110 into the voltage by a resistor R10 and to detect and amplify; a current control amplifier 111d to compare a detection power source current signal 119 as an output of the power source current amplifier 111c with the sync current command signal 118, thereby setting the difference voltage to 0; a comparator 111f to compare a difference signal 120 as an output of the current control amplifier 111d with a triangular wave signal 121 as an output of a triangular wave oscillator 111
  • the inverter control section 109 comprises: a D/A converter 109d to convert the voltage control signal 124 as a digital signal which is output from the microcomputer 106 into the analog signal; a comparator 109b to compare a voltage signal 127 as an output of the D/A converter 109d with a triangular wave signal 128 as an output of a triangular wave oscillator 109c, thereby making a chopper signal 129 for the inverter 104; and a driver 109a for the inverter 104.
  • the direct current detecting section 126 comprises: a direct current amplifier 126a to convert a direct current I d into a voltage by a resistor R 20 and to detect and amplify; and an A/D converter 126b to convert an output of the direct current amplifier 126a into a digital signal.
  • the DC voltage comparing section 125 comprises: a set voltage amplifier 125a to amplify a DC set voltage E dc ; and a comparator 125b to compare an output of the set voltage amplifier 125a with the DC voltage E d detected by resistors R30 and R40.
  • a brushless DC motor 105 controls the speed by changing an output voltage of the inverter 104.
  • a method of changing the output voltage there are a method whereby the DC voltage E d is changed by the step-up chopper circuit 103 to improve the power factor and a method whereby the voltage which is applied to the motor 105 is changed by the PWM control by the inverter 104.
  • the chopper circuit 103 since the chopper circuit 103 is used, when the DC voltage E d is set to be lower than the peak value of the power source voltage 116 of the AC power source 101, the chopper circuit 103 is turned off and does not operate at the position near the peak value of the power source voltage 116, so that the power source current 110 cannot be controlled to a sine wave. To control the speed in such a range, it is necessary to perform the PWM control by the inverter 104 on the basis of the latter method.
  • Fig. 33 shows the capacitor charging voltage E d before the motor 105 is activated.
  • the capacitor voltage E d is held at E dl in the case of the low voltage system and at E d2 in the case of the high voltage system.
  • E dc in the DC voltage comparing section 125 is set to a value which is higher than E dl and lower than E d2 , the output signal 130 of the comparator 125b changes to the high level for the low voltage system and to the low level for the high voltage system.
  • Fig. 34 shows the content of processes which are executed by the microcomputer 106.
  • fetching the output signal 130 of the DC voltage comparing section 125 it is decided whether the initial charging voltage E d of the capacitor 103c is of the low voltage system or of the high voltage system.
  • the inverter 104 is controlled by fixing the current supply angle to 120° and the DC voltage E d which is output from the chopper circuit 103 is made variable, thereby controlling the speed of the motor 105.
  • the DC voltage E d which is output from the chopper circuit 103 is set to a fixed value and the inverter 104 is controlled by setting the current supply angle to 120° and by performing the PWM, thereby controlling the speed of the motor 105.
  • Figs. 36A and 36B show line voltages of one phase of the motor 105. Since the inverter 104 is controlled by fixing the current supply to 120°, the applied voltage of the motor 105 varies depending on the chopper circuit 103. The speed of the motor 105 is controlled by the chopper circuit 103.
  • the chopper circuit 103 is controlled such that the DC voltage E d is set to a constant value of E dm (the maximum voltage for the low voltage system) and the inverter 104 is controlled by fixing the current supply angle to 120° and by performing the PWM. Therefore, the average voltage E1 is changed by the PWM control and the speed of the motor 105 is controlled by the inverter 104.
  • the voltage which is applied to the motor 105 is set to the same voltage in both cases where the AC power source 101 is of the low voltage system and where it is of the high voltage system.
  • One kind of brushless DC motor 105 can be used irrespective of the power source voltage 116.
  • An operating apparatus of Fig. 38 differs from that of Fig. 31 with respect to a point that the decision regarding whether the AC power source voltage 116 is of the low voltage system or of the high voltage system is performed on the basis of the output voltage of the rectifier 102. Since the output signal 130 of the DC voltage comparing section 125 has a pulse waveform, a latch circuit 125c is provided and an output of the latch circuit 125c is input to the microcomputer 106. With this constitution, by fetching this output signal, it is always possible to determine whether the power source voltage E d is of the low voltage system or of the high voltage system.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Electric Vacuum Cleaner (AREA)
EP19910100654 1986-10-08 1987-10-08 Method and apparatus for operating vacuum cleaner Withdrawn EP0424364A3 (en)

Applications Claiming Priority (16)

Application Number Priority Date Filing Date Title
JP61237943A JPH0728545B2 (ja) 1986-10-08 1986-10-08 電気掃除機
JP237942/86 1986-10-08
JP61237938A JPH0687675B2 (ja) 1986-10-08 1986-10-08 電気掃除機
JP237943/86 1986-10-08
JP61237942A JPS6395883A (ja) 1986-10-08 1986-10-08 電気掃除機
JP237938/86 1986-10-08
JP50073/87 1987-03-06
JP62050073A JPS63216524A (ja) 1987-03-06 1987-03-06 電気掃除機の運転方法及びその装置
JP62065608A JPS63234930A (ja) 1987-03-23 1987-03-23 電気掃除機
JP65608/87 1987-03-23
JP69072/87 1987-03-25
JP62069072A JPS63240391A (ja) 1987-03-25 1987-03-25 電動機の速度制御装置
JP80950/87 1987-04-03
JP62080951A JPH0728546B2 (ja) 1987-04-03 1987-04-03 電気掃除機
JP62080950A JPS63249487A (ja) 1987-04-03 1987-04-03 電気掃除機
JP80951/87 1987-04-03

Related Parent Applications (1)

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GB2272808A (en) * 1992-11-19 1994-05-25 Toshiba Kk Inverter and air conditioner driven by the inverter
US5486743A (en) * 1992-11-19 1996-01-23 Kabushiki Kaisha Toshiba Inverter and air conditioner controlled by the same
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Also Published As

Publication number Publication date
EP0264728A1 (de) 1988-04-27
US5166585A (en) 1992-11-24
KR940002923B1 (ko) 1994-04-07
US5294872A (en) 1994-03-15
EP0424364A3 (en) 1991-07-03
EP0264728B1 (de) 1992-01-15
EP0424363A3 (en) 1991-07-17
US5075607A (en) 1991-12-24
DE3776069D1 (de) 1992-02-27
EP0424363A2 (de) 1991-04-24
US4880474A (en) 1989-11-14
KR880004782A (ko) 1988-06-27

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